Dynamic consensus with prescribed convergence time for multi-leader formation tracking

Carlos Sagüés, Rosario Aragüés, David Gómez-Gutiérrez, Rodrigo Aldana-López

Publication date: 23 June 2022

Abstract: This work addresses the problem of distributed formation tracking for a group of follower holonomic mobile robots around a reference signal. The reference signal is comprised of the geometric center of the positions of multiple leaders. This work's main contribution is a novel Modulated Distributed Virtual Observer (MDVO) for the reference signal. Moreover, the proposed MDVO is based on an exact dynamic consensus algorithm with a prescribed convergence time. In addition, we provide simulation examples showcasing two different application scenarios for the proposal.

Has companion code repository: https://github.com/rodrigoaldana/edc

This page was built for publication: Dynamic consensus with prescribed convergence time for multi-leader formation tracking

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q6402943)